针对样例飞翼布局无人机航向不稳定并且拥有多组气动操纵面的特点, 首先利用神经网络建立无人机逆模型, 实现控制指令到多舵面之间的映射。在此基础上从滚转通道和偏航通道分析了蛇形机动控制原理, 设计了基于线性最优二次型鲁棒控制和PI控制相结合的蛇形机动控制律, 在实现滚转角和航迹角快速响应的同时快速消除侧滑角。从仿真结果来看, 该控制律能够有效抵御外界干扰, 维持系统的响应品质, 保证控制的稳定性和鲁棒性。

Considering that the sample fly-wing UAV has the characteristics of unstable course and multiple actuators, we established the converse model of the UAV based on neural network, which could transform the controller outputs into actuator offsets.Then, we analyzed the principle of snake maneuver from the aspects of rolling and yaw angles, and designed a snake maneuver control law based on Robust Servomechanism Linear Quadratic Regulator (RSLQR) control and Proportional Integral (PI) control, which could ensure the rapid response of roll and track angles while getting rid of the sideslip angle rapidly.Simulation results shows that RSLQR-plus-PI control can resist the disturbance, maintain the properties of the controller, and guarantee the robustness and stability of fly-wing UAV more effectively.